i hc Bch Khoa TPHCM P N KT GIA K 1.

Nm hc 2011-2012
Khoa in in T Mn: C s t ng
B mn KT Ngy thi: 25/10/2011
---o0o--- Thi gian lm bi: 60 pht
(Sinh vin ch c php s dng ti liu vit tay)

Ch : Tng im cc cu hi trong thi l 13 im, bi lm hn 10 im s c lm trn v 10.

Bi 1: (3.0 im)

S dng tn hiu tng ng : (0.5)














- ng tin : P
1
= G
1
G
3
G
7
P
2
= G
1
G
4
G
7
(0.5)

- Vng kn : L
1
= G
1
G2 L
2
= G
6
G
7
L
3
= G
1
G
3
G
5
(1.0)
L
4
= G
1
G
4
G
5
L
5
= G
3
G
7
G
8
L
6
= G
4
G
7
G
8


- nh thc :

A = 1 (L
1
+ L
2
+ L
3
+ L
4
+ L
5
+ L
6
) + L
1
L
2
(0.5)

- nh thc con : A
1
= 1 A
2
= 1

- Hm truyn tng ng : (0.5)
7 6 2 1 8 7 4 8 7 3 5 4 1 5 3 1 7 6 2 1
7 4 1 7 3 1
2 2 1 1
1
) (
1
G G G G G G G G G G G G G G G G G G G G
G G G G G G
P P G
td
+ + + + +
+
= A + A
A
=

Bi 2: (3.0 im)
2.1 V qu o nghim s

PTT:
( )
( )
2
( 2)( 3)
1 ( ) 0 1 0 ( 1) (5 1) 6 0 1
1
K s s
G s K s K s K
s s
+ +
+ = + = + + + + =
+

Pole :
1 2
0, 1 p p = = (0.5)
Zero :
1 2
2, 3 z z = =

Tim cn: Khng c

im tch nhp:
R(s)
G
4

G
1

G
2

G
3

-G
6

G
7

G
5
Y(s)
G
8

( )
2
2
1
2 2
2
( 1)
1
5 6
2.35
4 10 6
0 ( )
0.65 ( 5 6)
s s
K
s s
s
K s s
nh n
s s s s
+
=
+ +
= c + +
= =

= c + +



(c 2 nghim u thuc QNS) (0.5)


Hnh v (1.0 nu v y cc du mi tn, k hiu ng cc, zero)



2.2 T gc ta k ng tip xc vi ng qu o nghim, ti im tip xc gc u l ln nht, ti
cosu = l nh nht.
o di trc tip trn th
0
35 u = t suy ra cos 0.818 u = = v 1.27
n
e = (0.5)
vt l :
2
/ 1
.100% 1.15% POT e
t
= =
Thi gian xc lp :
4
3.85
s
n
T s
e
= = (0.5)


Bi 3: (3.5 im)

3.1. Phng trnh c trng:

3 2
( 4)( ) 8( ) 0
( 4) (4 8) 8 0
s s s p s z
s p s p s z
+ + + + =
+ + + + + =
(0.5)

Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-3 -2.5 -2 -1.5 -1 -0.5 0
-1.5
-1
-0.5
0
0.5
1
1.5
0.818 =
K=0
K=0
K+ K+
3 2 1
0
Bng Routh
3
2
1
0
1 4 8
4 8
8
(4 8) 0
4
8 0
s p
s p z
z
s p
p
s z
+
+
+
+
(0.5)


iu kin HT n nh
4 0
4 8 0
( 4)(4 8) 8 0
8 0
p
p
p p z
z
+ >

+ >

+ + >

>

(0.5 )

+ + < <
>
4 3
2
1
0
2
2
p p z
p


Vng n nh (0.5 im)




3.2. z=2, p=3. t bin trng thi nh s bn di: (0.5)


1
3 s +
4
4 s +
2
s
( ) R s ( ) Y s
1
x
2
x
3
x


| |
1 2
2 2 1 3
3 3 1
2
4 4 ( )
3
x x
x x r x x
x x r x
=

+ =

+ =

(0.5)

1 2
2 1 2 3
3 1 3
2
4 4 4 4
3
x x
x x x x r
x x x r
=

= +

= +

| |
0 2 0 0
4 4 4 , 4 ,
1 0 3 1
1 0 0
A B
C
( (
( (
= =
( (
( (

=
(0.5)

(Ch : Cch t bin trng thi x
3
khc, nu lm ng, vn c chp nhn)

Bi 4: (3.5 im)
) 1 )( 100 10 (
) 5 ( 20
) (
2
+ + +
+
=
s s s s
s K
s G
h

) 1 )( 1 1 . 0 01 . 0 (
) 1 2 . 0 (
) (
2
+ + +
+
=
s s s s
s K
s G
h


Tn s gy: ) / ( 1
1
s rad = e , ) / ( 5
2
s rad = e , ) / ( 10
3
s rad = e , (0.25)
Khi K=1, biu Bode qua im A c ta :

= =
=
0 lg 20 ) (
/ ( 1
0
0
K L
s rad
e
e
(0.25)

Biu thc pha: khng cn xc nh, v bi cho biu pha

Khi K=10, biu Bode bin nng 20dB.







4.2 Da vo biu Bode, ta c:
Khi K = 1:

sec) / ( 1 rad
C
~ e

sec) / ( 8 rad ~
t
e

0
130 ) ( ~
C
e 0 50 ) 130 ( 180
0
> = + = uM , (0.25)

dB L 32 ) ( ~
t
e 0 32 > = dB GM , (0.25)
H thng kn n nh khi K = 1

20dB/dec
40dB/dec
20dB/dec
60dB/dec
uM
e
C

-
-
e
t

GM
(Biu : 0.75 nu v y dc, e
C
, e
t
, uM, GM)
20dB/dec
40dB/dec
20dB/dec 60dB/dec
uM
e
C

-
-
e
t

GM
(Biu : 0.75 nu v y dc, e
C
, e
t
, uM, GM)

Khi K = 10:

sec) / ( 5 . 3 rad
C
~ e

sec) / ( 8 rad ~
t
e

0
150 ) ( ~
C
e 0 30 ) 150 ( 180
0
> ~ + = uM , (0.25)

dB L 10 ) ( ~
t
e 0 10 > ~ dB GM , (0.25)
H thng kn n nh khi K = 10.



Ch : Nu SV tnh ton gii tch, tm c cc gi tr chnh xc nh di y cng c tnh im
- Khi K=1: tn s ct bin
c
=0.75rad/s, (
c
)= 123
0
uM=57
0
(0.25)
tn s ct pha:
t
=7.82rad/s, L(
t
)=29.5dB GM=29.5dB (0.25)
h thng kn n nh
- Khi K=10: tn s ct bin
c
=3.5rad/s, (
c
)= 151
0
uM=29
0
(0.25)
tn s ct pha:
t
=7.82rad/s, L(
t
)=9.3dB, GM=9.3dB (0.25)
h thng kn n nh


4.3 (0.5)
Cc h s
0
0
2
0
Kp= lim ( ) ( )
Kv= lim ( ) ( )
Kv= lim ( ) ( ) 0
c
s
c
s
c
s
G s G s
sG s G s K
s G s G s

=
=
=

Khi tng li K
Nu tn hiu vo l hm nc: sai s xc lp bng khng, vt l tng
Nu tn hiu vo l hm dc: sai s xc lp =1/K s gim , vt l tng